Modeling a Small-size Unmanned Helicopter Using Optimal Estimation in The Frequency Domain

Author

Song, Dalei ; Qi, Juntong ; Dai, Lei ; Han, Jianda ; Liu, Guangjun

Author_Institution

State Key Lab. of Robot., Chinese Acad. Sci., Shenyang

fYear

2008

fDate

2-4 Dec. 2008

Firstpage

97

Lastpage

102

Abstract

In this paper, a semi-decoupled state space model of a small-size helicopter is developed for hovering conditions in order to simplify the model identification process. An optimal estimation algorithm in frequency domain is proposed and implemented to estimate the parameters in the state space model using real flight data collected from a SERVOHELI-40 small-size unmanned helicopter. The accuracy of the identified model is verified by simulation in time domain, using a different set of hovering flight data. The results have shown the accuracy of the developed semi-decoupled model and the effectiveness of the proposed optimal estimation algorithm in frequency domain.

Keywords

helicopters; remotely operated vehicles; state-space methods; SERVOHELI-40; hovering conditions; model identification process; semidecoupled state space model; small-size unmanned helicopter model; Cost function; Frequency domain analysis; Frequency estimation; Helicopters; Parameter estimation; Robotics and automation; State estimation; State-space methods; System identification; Vehicle dynamics; frequency domain; helicopter model; hover; optimal estimation; small-size unmanned helicopter;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008. 15th International Conference on

Conference_Location

Auckland

Print_ISBN

978-1-4244-3779-5

Electronic_ISBN

978-0-473-13532-4

Type

conf

DOI

10.1109/MMVIP.2008.4749514

Filename

4749514